KR102519693B1 - Apparatus for automatically removing wrap up package - Google Patents

Abstract

An automatic packaging packages removal device according to an embodiment of the present invention is an automatic packaging packages removal device for removing packaging packages of loads stacked on a pallet, comprising: an unwrapping main body part disposed adjacent to a turntable on which the pallet is seated; a mobile robot that is moved in position while connected to an upper side of the unwrapping main body part; and an operation part that is connected to an end of the mobile robot, is linked according to positional movement of the mobile robot, and grips and cuts the packaging package of the load. Thus, the present invention can provide the device that automatically removes packaging packages consisting of a packaging band that surrounds the load to prevent dispersion of the load stacked on the pallet and a packaging wrap that surrounds the load and prevents the inflow of foreign substances.

Description

Apparatus for automatically removing wrap up package}

The present invention relates to an automatic packaging package removal device, and more particularly, to a packaging package removal device for removing packaging packages of stacked objects stacked on a pallet.

In general, after products produced in a factory are loaded on a pallet, they are wrapped with a wrap film made of polyethylene or vinyl chloride resin to protect the product from moisture or dust and to facilitate product transportation.

Wrapping of these products may be performed through a wrapping device.

In the case of a conventional wrapping device, when a wrap is wrapped in a product, sufficient tension is applied to the wrap to wrap the wrap around the product, so the wrap is not easily peeled off from the product, and watertightness and airtightness of the wrap are maintained.

Accordingly, a person manually removes the wrap from the product wrapped in the wrap by the wrapping device. In this case, problems such as reduced work efficiency and product damage in the process of removing the wrap may occur.

Korean Patent Registration No. 10-1063899

An object of the present invention is to provide a device for automatically removing a packaging package composed of a packaging band enclosing the load to prevent dispersion of loads stacked on a pallet and a packaging wrap to prevent the inflow of foreign substances while enclosing the load.

An automatic packaging package removal device according to an embodiment of the present invention is an automatic packaging package removal device for removing packaging packages of loads stacked on a pallet, wherein the unwrapping main body portion is disposed adjacent to the turntable on which the pallet is seated. , The mobile robot connected to the upper side of the unwrapping main body, connected to the end of the mobile robot, connected to the end of the mobile robot, interlocked according to the movement of the mobile robot, and the operating unit for cutting while gripping the packaging package of the load The operation unit is connected to an end of the mobile robot, an operation connection unit forming an installation space, a grip unit connected to one front side of the operation connection unit and gripping the packaging package, and connected to the other front side of the operation connection unit. A wrap cutting unit for cutting the packaging package, wherein the packaging package is composed of a packaging band enclosing the load to prevent dispersion and a packaging wrap to prevent the inflow of foreign substances while surrounding the load, the wrap cutting The part allows the packaging wrap to be cut by hot air in a non-contact state with the packaging package while being disposed adjacent to the load by the mobile robot, and the grip part is the packaging wrap cut by the wrap cutting part. While gripping, it can be moved to a collection unit that collects the packaging wrap.

The grip part of the automatic packaging removal device according to an embodiment of the present invention is formed by protruding from a first grip part protruding from an upper side of one side of the operation connection part and a lower side of the operation connection part, and the first grip part and A second grip part disposed in a mirror image, the wrap cutting part is mounted on the other side of the operating connection part, and the first grip part or the second grip part grips the packaging wrap cut by the wrap cutting part , The packaging wrap is released by the mobile robot in a state adjacent to the retrieval unit, and the mobile robot is moved from the unwrapping body in a vertical or horizontal direction so that the operating unit faces the load. Alternatively, the operation unit may be disposed to face the recovery unit.

The operation unit of the automatic packaging removal device according to an embodiment of the present invention is connected to the operation connection unit and is disposed between the first grip unit and the second grip unit, and is provided by the first grip unit and the second grip unit. A band cutting unit for cutting the gripped packaging band is further provided, wherein the band cutting unit includes a band main body connected to the front surface of the operating connection unit, a band moving unit mounted on the band main unit and moved in the forward and backward directions, It may include a cutting motor unit connected to the band moving unit, interlocked with the movement of the band moving unit, and generating rotational force by the applied power, and a cutting blade rotated by the cutting motor unit.

The first grip part of the automatic packaging removal device according to an embodiment of the present invention, the first grip body part connected to the upper part of one side of the operating connection part, is positioned in the front and rear direction while being mounted on the first grip body part A first grip moving part that is moved and a first grip piece that grips or releases a front packaging package while being connected to the first grip moving part, wherein the second grip part is connected to a lower side of one side of the operating connection part. A second grip main body portion attached to the second grip body portion, a second grip moving portion that moves in the front-back direction, and gripping or releasing the front packaging package while connected to the second grip moving portion A second grip piece is provided, and the first grip piece and the second grip piece are moved rearward from a grip position for gripping the front pavement band, so that the gripped pavement band is farther away from the load. It can be moved to a spaced position to

The band moving unit of the automatic packaging removal device according to an embodiment of the present invention, when the first grip piece and the second grip piece are moved to the spaced position, is moved forward from the standby position to the cutting blade unit. As a result, the position can be moved to a cutting position where the pavement band is cut.

The first grip piece of the automatic packaging removal device according to an embodiment of the present invention is a first grip protrusion formed by protruding from the end of the first grip moving part, and can rotate on one side of the first grip protrusion. 1-1 grip piece disposed vertically or parallel to the first grip protrusion and rotatably connected to the other side surface of the first grip protrusion and disposed perpendicular to the first grip protrusion, or Further comprising 1-2 grip pieces arranged in parallel, the 1-1 grip piece and the 1-2 grip piece are spaced apart from each other when arranged perpendicularly to the first grip protrusion, When disposed in parallel with the first grip protrusion, the second grip piece protrudes from the end of the second grip movable portion in contact with each other to grip the packaging wrap or packaging band located in front of the first grip protrusion. a second grip protrusion, a 2-1 grip piece rotatably connected to one side of the second grip protrusion, and disposed vertically or parallel to the second grip protrusion, and the second grip protrusion and a 2-2 grip piece rotatably connected to the other side surface and disposed vertically or parallel to the second grip protrusion, wherein the 2-1 grip piece and the 2-2 grip piece are , When disposed perpendicularly to the second grip protrusion, are spaced apart from each other, and when disposed parallel to the second grip protrusion, grip the packaging wrap or packaging band located in front of the second grip protrusion in contact with each other. can do.

The wrap-cutting unit of the automatic packaging removal device according to an embodiment of the present invention, the wrap-cutting body portion protruding from the other side of the operating connection portion and the wrap-cutting body portion mounted on the electric hot air by the applied power and an electric heat generating unit that generates heat, and the electric heat generating unit is interlocked according to the positional movement of the mobile robot, so that the packaging wrap surrounding the load can be cut by electric hot air.

An automatic packaging removal device according to an embodiment of the present invention is connected to the other end of the operating connection part and detects a separation distance from a front object, and the position sensor unit detects the distance according to the value detected by the position sensor unit. Further comprising an unwrapping control unit for controlling the mobile robot or the operation unit, wherein the unwrapping control unit determines that the separation distance between the operation unit and the load is a first separation distance based on the value detected by the position sensor unit. A first operation of controlling the mobile robot to be disposed, and after the first operation, after controlling the lap cutting unit to be driven, the mobile robot maintains the first separation distance from the load in the height direction of the load. A second operation of cutting the packaging wrap by controlling movement along the ridge, and controlling one end of the cut packaging wrap to be gripped by the gripping unit after the second operation, and then moving the cut packaging wrap to the collection unit. The third operation for controlling the mobile robot may be sequentially implemented.

The unwrapping control unit of the automatic packaging removal device according to an embodiment of the present invention, based on the value detected by the position sensor unit, arranges the separation distance between the operation unit and the load at a second separation distance. A fourth operation of controlling the mobile robot, a fifth operation of controlling the packaging band to be gripped by the grip unit after the fourth operation, and then controlling the packaging band to be cut by the band cutting unit, and the fifth operation Afterwards, a sixth operation of controlling the mobile robot so that the cut pavement band is moved to the recovery unit while being gripped by the grip unit may be sequentially implemented.

The first grip piece of the automatic packaging removal device according to an embodiment of the present invention, when the 1-1 grip piece and the 1-2 grip piece are disposed parallel to the first grip protrusion, the first grip piece A first change measurement unit for measuring a change in separation distance between the 1-1 grip piece and the 1-2 grip piece is further provided, and the second grip piece comprises the 2-1 grip piece and the 2-2 grip piece. When the grip piece is disposed parallel to the second grip protrusion, a second change measuring unit for measuring a change in the separation distance between the 2-1 grip piece and the 2-2 grip piece is further provided, and the unwrapping control unit When the value measured by the first change measurement unit is greater than the preset value, it is determined that the pavement band is gripped between the 1-1 grip piece and the 1-2 grip piece, and the second When the value measured by the change measuring unit is greater than the preset value, it is determined that the pavement band is gripped between the 2-1 grip piece and the 2-2 grip piece, and the first change measure unit and the When the value measured by the second change measuring unit is greater than the preset value, the band moving unit may be moved from the standby position to the cutting position.

According to the present invention, by automating the process of removing the packaging package by conventional manual work, it is possible to increase work efficiency and minimize product damage during the process of removing the wrap.

1 is a schematic diagram showing a packaging package automatic removal system according to an embodiment of the present invention.
Figure 2 is a schematic diagram for explaining the turntable and conveyor of the automatic packaging package removal system according to an embodiment of the present invention.
3 to 5 are schematic views illustrating a position fixing unit and a recovery unit of the automatic packaging package removal system according to an embodiment of the present invention.
Figure 6 is a schematic diagram for explaining an automatic packaging removal device according to an embodiment of the present invention.
7 to 10 are schematic diagrams for explaining the operation of the automatic packaging removal device according to an embodiment of the present invention.
11 is a schematic diagram illustrating an unwrapping control unit and a system control unit of an automatic package removal system according to an embodiment of the present invention.
12 to 17 are schematic diagrams for explaining the operation of the automatic packaging removal system according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to the presented embodiments, and those skilled in the art who understand the spirit of the present invention may add, change, delete, etc. other elements within the scope of the same spirit, through other degenerative inventions or the present invention. Other embodiments included within the scope of the inventive idea can be easily proposed, but it will also be said to be included within the scope of the inventive concept.

In addition, components having the same function within the scope of the same idea appearing in the drawings of each embodiment are described using the same reference numerals.

Packaging package automatic removal system

1 is a schematic diagram showing an automatic packaging package removal system according to an embodiment of the present invention, and FIG. 2 is a schematic diagram illustrating a turntable and a conveyor unit of the automatic packaging package removal system according to an embodiment of the present invention.

1 and 2, the automatic packaging package removal system (1, hereinafter referred to as removal system) according to an embodiment of the present invention removes the packaging package (P) of the stack (G) stacked on the pallet (Q). It is a system for

Here, the packaging package (P) is composed of a packaging band (P2) surrounding the load (G) to prevent dispersion and a packaging wrap (P1) for preventing the inflow of foreign substances while surrounding the load (G) It can be.

The removal system 1 according to an embodiment of the present invention may include a conveyor unit 50, a turntable 10, a position fixing unit 20, a removal device 30, and a recovery unit 40.

The conveyor unit 50 may be moved in one direction while the pallet Q is seated so that the pallet Q is seated on the turntable 10 .

The turntable 10 may be seated so that the pallet Q can rotate.

The position fixing part 20 is disposed adjacent to the turntable 10 and can be moved by adsorbing the load G on the turntable 10 .

The removal device 30 is disposed adjacent to the turntable 10 and can remove the packing package P of the load G, the position of which is fixed by the position fixing part 20 .

The removal device 30 includes a band cutting unit 357 for removing the packaging band P2, a wrap cutting unit 355 for removing the packaging wrap P1, and gripping the removed packaging package P. A grip part 353 may be provided.

Details of the removal device 30 will be described in detail with reference to FIGS. 6 to 11 .

The recovery unit 40 is disposed adjacent to the removal device 30 and can recover the packaging package P removed by the removal device 30 .

The conveyor unit 50 may include a first conveyor piece 50a and a second conveyor piece 50b spaced apart from each other with the turntable 10 interposed therebetween.

The load (G) moved through the second conveyor piece (50b) is removed from the packaging package (P) on the turntable 10, and the load (G) from which the packaging package (P) is removed is the first conveyor piece (50a).

When the packaging wrap P1 is cut by the wrap cutting unit 355, the turntable 10 is rotated so that the packaging wrap P1 wound on the outer surface of the stacked object G can be unwound.

Specifically, the packing wrap (P1) may be wound while overlapping along the outer circumferential surface of the load (G) for stable protection or packaging of the load (G). At this time, the load (G) of the packing wrap (P1) ), the turntable 10 is rotated to facilitate unwinding.

Here, the packing wrap (P1) is already cut by the wrap cutting unit 355, and it is easy to separate from the load (G), but the static electricity or material characteristics of the packing wrap (P1) and the load (G) The turntable 10 is rotated in order to prevent a situation in which separation is limited by adhesion due to

3 to 5 are schematic diagrams illustrating a position fixing unit and a recovery unit of the automatic packaging package removal system according to an embodiment of the present invention.

3 to 5, the position fixing part 20 of the removal system 1 according to an embodiment of the present invention includes a fixed main body part 21, a fixed moving part 23 and an adsorbing part 25 can be provided.

The fixing body part 21 is fixed to the bottom surface and may form a structure having a certain height.

The fixed movable part 23 may be rotatably connected to the body part, and is rotated based on a rotation axis 231 perpendicular to the bottom surface, so that the suction part 25 is placed on one side of the load G. can be made to oppose or unoppose.

Here, the meaning of being released means that they are arranged so as not to face each other.

The fixed movable unit 23 may include a rotating shaft 231 , a rotation unit 233 , a rotation expansion unit 235 and an adsorption expansion unit 237 .

The rotating shaft 231 may be mounted on the fixing body part 21 .

The rotating part 233 may be rotated based on the rotating shaft 231 while being mounted on the rotating shaft 231 .

The rotational expansion and contraction part 235 expands and contracts while one side is connected to the fixed body part 21 and the other side is connected to the rotational part 233, so that the rotational part 233 rotates the rotation shaft 231. It can be rotated on a basis.

The adsorption expansion unit 237 is connected to one end of the rotation unit 233 and can be expanded and contracted.

The adsorbing unit 25 may adsorb or release one side of an adjacent load G according to the rotation of the fixed movable unit 23 while being connected to the end of the fixed movable unit 23 .

The adsorption unit 25 may be connected to an end of the adsorption extension unit 237 .

Meanwhile, the recovery unit 40 may include a recovery roller 41 and a recovery slide unit 43 .

The collecting roller 41 is connected to the upper side of the fixing body part 21 and can receive and collect the packaging package P gripped by the grip part 353 .

Specifically, the recovery roller 41 may include a first roller unit 411 , a second roller unit 412 and a roller moving unit 415 .

The first roller part 411 is connected to the upper side of the fixed body part 21 and can be rotated by applied power.

The second roller unit 412 is connected to the upper side of the fixing body unit 21, is disposed adjacent to the first roller unit 411, and can be rotated by applied power.

The roller moving unit 415 may expand and contract while being connected to the second roller unit 412 so that the separation distance between the first roller unit 411 and the second roller unit 412 is changed.

The recovery slide part 43 is connected to the upper side of the fixed body part 21 and extends to the bottom surface so that the packaging packages P recovered by the recovery roller 41 are collected in a certain space. can

The packaging package P gripped by the grip part 353 is compressed between the first roller part 411 and the second roller part 412, and the first roller part 411 and the second roller part 411 2 It can be moved according to the rotation of the roller unit 412 and collected in a certain space through the recovery slide unit 43.

11 is a schematic diagram illustrating an unwrapping control unit and a system control unit of an automatic packaging removal system according to an embodiment of the present invention, and FIGS. 12 to 17 are diagrams of an automatic packaging removal system according to an embodiment of the present invention. It is a schematic diagram to explain the operation.

11 to 17, the removal system 1 according to an embodiment of the present invention may further include a system controller 60.

The system control unit 60 controls the turntable 10, the position fixing unit 20, and the removal device 30 according to the movement of the load G from the conveyor unit 50 to the turntable 10. And it is possible to control the recovery unit 40.

The system control unit 60 may sequentially implement the a-th operation to the f-th operation.

The a-th operation is an operation of controlling the load G on the turntable 10 to be adsorbed by the position fixing unit 20 when the load G is seated on the turntable 10 (FIG. 12 reference).

The b-th operation, after the a-th operation, cuts the packaging wrap (P1) of the load (G) adsorbed to the position fixing part (20) by the removal device (30), and cuts the packaging wrap (P1). ) is the action of gripping.

The b-th operation may be operated by sequentially implementing the b-1 th operation, the b-2 th operation, and the b-3 th operation.

The operation b-1 is an operation of cutting the packaging wrap P1 of the load G adsorbed by the wrap cutting unit 355 (see FIG. 13).

In the operation b-2, after the operation b-1, the fixed moving unit 23 is rotated in a state in which the adsorption unit 25 adsorbs the packaging wrap P1, so that the adsorption unit 25 It is an operation of opposing release from one side of the load (G) (see FIG. 14).

In the operation b-3, after the operation b-2, the grip unit 353 grips the packaging wrap P1 adsorbed to the suction unit 25 (see FIG. 15).

The c-th operation, after the b-th operation, causes the turntable 10 to rotate so that the packaging wrap P1 wound around the load G is unwound.

The d-th operation is an operation for moving the packaging wrap P1 removed from the load G to the recovery unit 40 by the removal device 30 after the c-th operation.

The d-th operation may be operated by sequentially implementing the d-1-th operation, the d-2-th operation, and the d-3-th operation (see FIG. 15).

The d-1th operation is an operation of disposing the packaging wrap P1 gripped by the grip part 353 between the first roller part 411 and the second roller part 412 .

In the d-2 operation, after the d-1 operation, the second roller unit 412 is moved by the roller moving unit 415, so that the packaging wrap P1 is moved to the first roller unit 411. ) and the second roller unit 412.

In the d-3 operation, after the d-2 operation, the first roller unit 411 and the second roller unit 412 are rotated so that the compressed packing wrap P1 is removed from the recovery slide unit ( 43) to move to a certain space.

The e-th operation is an operation of cutting the packing band P2 of the load G on the turntable 10 by the removal device 30 after the d-th operation while gripping it (see FIG. 16). .

The e-th operation is implemented and operated as an e-1-th operation and an e-2-th operation.

The operation e-1 is an operation in which the packaging band P2 is gripped by the gripping part 353.

The operation e−2 is an operation in which the packaging band P2 is cut by the band cutting unit 357 after the operation e−1.

The fth operation is an operation for moving the packaging band P2 removed from the load G to the recovery unit 40 by the removal device 30 after the eth operation (see FIG. 17). .

Package automatic removal device (removal device)

6 is a schematic diagram illustrating an automatic packaging removal device according to an embodiment of the present invention, and FIG. 7 is a schematic perspective view illustrating an operation unit of the automatic packaging removal device according to an embodiment of the present invention.

Referring to Figures 6 and 7, the automatic packaging package removal device (30, hereinafter referred to as a removal device) according to an embodiment of the present invention removes the packaging package (P) of the load (G) stacked on the pallet (Q). As a device for doing this, it is a component constituting the packaging automatic removal system 1.

Here, the packaging package (P) is composed of a packaging band (P2) surrounding the load (G) to prevent dispersion and a packaging wrap (P1) for preventing the inflow of foreign substances while surrounding the load (G) It can be.

The removal device 30 of the present invention peels off and collects the packaging wrap P1 surrounding the load G, and also cuts and collects the packaging band P2, so that the load G is removed from the packaging package P. It is a device that frees you from Here, the packaging package (P) may be wrapped around the load (G) by the packaging band (P2), then the packaging wrap (P1) is wound, or after the packaging wrap (P1) is wound around the load (G), the packaging A band P2 may surround it.

In the present invention, after the packaging wrap (P1) is wound around the load (G), it is described that the packaging package (P) in the form surrounded by the packaging band (P2) is removed, but it is revealed in advance that the opposite case can also be applied put

The removal device 30 of the present invention may include an unwrapping body 31, a mobile robot 33, and an operating unit 35.

The unwrapping main body 31 may be disposed adjacent to the turntable 10 on which the pallet Q is seated, and the mobile robot 33 is at a certain height from the floor with a lower end fixed to the floor. ) can be provided.

The mobile robot 33 may be moved while being connected to the upper side of the unwrapping main body 31 . The mobile robot 33 is composed of a pivoting bar connected by a plurality of link parts, and can be rotated up and down and left and right so that the opposite position of the operating part 35 connected to the end can be changed.

The operating unit 35 is connected to the end of the mobile robot 33 and interlocks according to the positional movement of the mobile robot 33, and cuts while holding the packaging package P of the load G. can do.

Specifically, the operation unit 35 may include an operation connection unit 351, a grip unit 353, and a wrap cutting unit 355.

The operating connection part 351 may form an installation space while being connected to the end of the mobile robot 33 . The mounting space means a space in which the grip part 353 and the wrap cutting part 355 can be mounted.

The grip part 353 is connected to the front side of one side of the operation connection part 351 to grip the packaging package P.

The wrap cutting unit 355 is connected to the front side of the other side of the operating connection unit 351 to cut the packaging package P.

Specifically, the wrap cutting unit 355 is disposed adjacent to the load G by the mobile robot 33, in a non-contact state with the packaging package P, and the packaging wrap by hot air. (P1) can be cut.

The grip unit 353 may move the packaging wrap P1 cut by the wrap cutting unit 355 to the recovery unit 40 that collects the packaging wrap P1 while gripping it.

8 to 10 are schematic diagrams for explaining the operation of the automatic package removal device according to an embodiment of the present invention.

8 to 10, the grip part 353 of the removal device 30 according to an embodiment of the present invention includes a first grip part 353a protruding from the top of one side of the operating connection part 351 and A second gripping part 353b protrudes from the lower part of one side of the operating connection part 351 and is arranged in a mirror image with the first gripping part 353a.

The lap cutting part 355 may be mounted on the other side of the operating connection part 351.

Specifically, the lap cutting part 355 may include a lap cutting body part 355a and a heat generating part 355b.

The lap cutting body portion (355a) may be formed to protrude from the front side of the other side of the operating connection portion (351).

The electric heat generator 355b is mounted on the wrap cutting body 355a and can generate electric hot air by the applied power.

In addition, the electric heat generating unit 355b is interlocked according to the movement of the mobile robot 33, so that the packing wrap P1 surrounding the load G can be cut by electric hot air.

Specifically, the mobile robot 33 descends from the upper end of the load G to the lower end when the electric heat generator 355b and the packing wrap P1 of the load G are disposed to face each other. The packaging wrap P1 is cut by the heat generating unit 355b.

The first gripping part 353a or the second gripping part 353b grips the packaging wrap P1 cut by the wrap cutting part 355, and the collecting part ( 40), it is possible to release the grip of the packaging wrap (P1) in a state of being adjacent thereto.

The first grip part 353a is attached to the first grip body part 353a-1 connected to the upper part of one side of the operation connection part 351 and is mounted on the first grip body part 353a-1 in the forward and backward directions. The first grip moving part 353a-2 moved in position and the first grip piece 353a- that grips or releases the grip of the front packaging package P while being connected to the first grip moving part 353a-2. 3) can be provided.

The first grip piece 353a-3 may include a first grip protrusion 3531, a 1-1 grip piece 3532, and a 1-2 grip piece 3533.

The first grip protruding part 3531 may protrude from an end of the first grip moving part 353a-2.

The 1-1 grip piece 3532 is rotatably connected to one side surface of the first grip protrusion 3531, and may be disposed vertically or parallel to the first grip protrusion 3531.

The first-second grip piece 3533 is rotatably connected to the other side surface of the first grip protrusion 3531, and may be disposed vertically or parallel to the first grip protrusion 3531.

When the 1-1 grip piece 3532 and the 1-2 grip piece 3533 are disposed perpendicularly to the first grip protrusion 3531, they are spaced apart from each other, and the first grip protrusion ( 3531), the packaging wrap P1 or packaging band P2 located in front of the first grip protrusion 3531 can be gripped in contact with each other.

The second grip part 353b is attached to the second grip body part 353b-1 connected to the lower part of one side of the operating connection part 351 and is mounted on the second grip body part 353b-1 in the forward and backward directions. and the second grip piece 353b- that grips or releases the grip of the front packaging package P while being connected to the second grip moving portion 353b-2. 3) can be provided.

The second grip piece 353b-3 may include a second grip protrusion 3535, a 2-1 grip piece 3536, and a 2-2 grip piece 3537.

The second grip protrusion 3535 may protrude from an end of the second grip moving part 353b-2.

The 2-1 grip piece 3536 is rotatably connected to one side of the second grip protrusion 3535, and may be disposed vertically or parallel to the second grip protrusion 3535.

The 2-2 grip piece 3537 is rotatably connected to the other side surface of the second grip protrusion 3535, and may be disposed vertically or parallel to the second grip protrusion 3535.

When the 2-1 grip piece 3536 and the 2-2 grip piece 3537 are disposed perpendicular to the second grip protrusion 3535, they are spaced apart from each other, and the second grip protrusion ( 3535), the packaging wrap P1 or packaging band P2 located in front of the second grip protrusion 3535 can be gripped in contact with each other.

The first gripping piece 353a-3 and the second gripping piece 353b-3 are moved backward from the gripping position for gripping the front pavement band P2, so that the gripped pavement band P2 It may be moved to a spaced position that makes the spaced distance from the load (G) farther.

The mobile robot 33 is moved vertically or left and right from the unwrapping body so that the operation unit 35 is disposed to face the load G, or the operation unit 35 is positioned to face the load G. It may be disposed so as to face the recovery unit 40 .

The operation part 35 is connected to the operation connection part 351 and is disposed between the first grip part 353a and the second grip part 353b, and the first grip part 353a and the second grip part 353b. A band cutting unit 357 for cutting the paving band P2 gripped by 353b may be further provided.

The band cutting unit 357 may include a band body unit 357a, a band moving unit 357b, a cutting motor unit 357c and a cutting blade unit 357d.

The band body part 357a may be connected to the front of the operating connection part 351 .

The band moving part 357b may be moved in a forward and backward direction while being mounted on the band body part 357a.

When the first grip piece 353a-3 and the second grip piece 353b-3 are moved to the spaced position, the band moving part 357b is moved forward from the standby position to the cutting blade part. By (357d), the position can be moved to the cutting position where the packaging band (P2) is cut.

The cutting motor unit 357c is connected to the band moving unit 357b, interlocks with the positional movement of the band moving unit 357b, and generates a rotational force by applied power. The cutting motor unit 357c and the cutting motor unit 357c A cutting blade part 357d rotated by the motor part 357c may be provided.

11 is a schematic diagram illustrating an unwrapping control unit and a system control unit of an automatic package removal system according to an embodiment of the present invention.

Referring to FIG. 11 (a), the removal device 30 according to an embodiment of the present invention may further include a position sensor unit 37 and an unwrapping control unit 39.

The position sensor unit 37 is connected to the other end of the tooth gear operating connection unit 351, and can detect a separation distance from a front object.

The unwrapping control unit 39 may control the mobile robot 33 or the operation unit 35 according to the value detected by the position sensor unit 37 .

The unwrapping control unit 39 may control the mobile robot 33 or the operation unit 35 to sequentially implement the first to sixth operations to be described later.

In the first operation, based on the value detected by the position sensor unit 37, the mobile robot 33 is arranged such that the separation distance between the operation unit 35 and the load G is disposed at the first separation distance. ) to control.

The second operation, after the first operation, after controlling the lap cutting unit 355 to be driven, while the mobile robot 33 maintains the first separation distance from the load G, It is to control the movement along the height direction of the load (G) so that the packaging wrap (P1) is cut.

In the third operation, after the second operation, one side end of the cut packing wrap P1 is controlled to be gripped by the grip part 353, and then the cut packing wrap P1 is returned to the collecting part 40. It is to control the mobile robot 33 to move to.

In the fourth operation, based on the value sensed by the position sensor unit 37, the mobile robot 33 arranges a separation distance between the operation unit 35 and the load G at a second separation distance. ) to control.

In the fifth operation, after the fourth operation, the grip part 353 controls the gripping part 353 to grip the packing band P2, and then the band cutting part 357 controls the cutting part so that the packing band P2 is cut. will be.

In the sixth operation, after the fifth operation, the mobile robot 33 is controlled so that the cut packaging band P2 is moved to the recovery unit 40 while being gripped by the grip unit 353. It is to ensure that the 6 operations are implemented sequentially.

Meanwhile, in the first grip piece 353a-3, when the 1-1 grip piece 3532 and the 1-2 grip piece 3533 are disposed parallel to the first grip protrusion 3531 , A first change measuring unit may be further provided to measure a change in the separation distance between the 1-1 grip piece 3532 and the 1-2 grip piece 3533.

The second grip piece 353b-3 is formed when the 2-1 grip piece 3536 and the 2-2 grip piece 3537 are disposed parallel to the second grip protrusion 3535. A second change measuring unit may be further provided to measure a change in the separation distance between the 2-1 grip piece 3536 and the 2-2 grip piece 3537.

The unwrapping control unit 39 determines between the 1-1 grip piece 3532 and the 1-2 grip piece 3533 when the value measured by the first change measuring unit is greater than the preset value. It can be determined that the pavement band P2 is gripped.

In addition, the unwrapping control unit 39, when the value measured by the second change measurement unit is greater than the preset value, the 2-1 grip piece 3536 and the 2-2 grip piece 3537 ), it can be determined that the pavement band P2 is gripped between them.

Further, the unwrapping control unit 39 determines that, when the values measured by the first change measuring unit and the second change measuring unit are greater than a preset value, the band moving unit 357b moves the cutting at the standby position. It can be moved to position.

In the above, the configuration and characteristics of the present invention have been described based on the embodiments according to the present invention, but the present invention is not limited thereto, and various changes or modifications can be made within the spirit and scope of the present invention. It is apparent to those skilled in the art, and therefore such changes or modifications are intended to fall within the scope of the appended claims.

1: Package automatic removal system G: Loaded material
Q: Pallet P: Packaging Package
P1: Packing Wrap P2: Packing Band
10: turntable 20: position fixing unit
21: fixed body part 23: fixed moving part
25: adsorption unit
30: packaging package automatic removal device (removal device)
31: unwrapping body 33: mobile robot
35: operating unit 37: position sensor unit
39: unwrapping control unit 40: recovery unit
41: recovery roller 43: recovery slide unit
50: conveyor unit 60: system control unit

Claims (10)

In the packaging package automatic removal device for removing packaging packages of loads stacked on a pallet,
an unwrapping body portion disposed adjacent to the turntable on which the pallet is seated;
A mobile robot connected to the upper side of the unwrapping main body and moved in position; and
An operating unit that is connected to the end of the mobile robot, interlocks with the movement of the mobile robot, and cuts while gripping the packaging package of the load,
The operating part,
An operating connection portion that forms an installation space while being connected to the end of the mobile robot;
A grip part connected to the front side of one side of the operating connection part to grip the packaging package; and
It is connected to the front of the other side of the operating connection portion and has a wrap cutting unit for cutting the packaging package,
The packaging package,
Consisting of a packaging band surrounding the load to prevent dispersion and a packaging wrap to prevent the inflow of foreign substances while surrounding the load,
The lap cutting part,
The packaging wrap is cut by hot air while being disposed adjacent to the load by the mobile robot and in a non-contact state with the packaging package,
The grip part,
While gripping the packaging wrap cut by the wrap cutting unit, move it to a collection unit that collects the packaging wrap,
A first grip part protruding from an upper part of one side of the operating connection part, and
A second grip part protruding from the lower part of one side of the operation connection part and disposed in a mirror image with the first grip part,
The lap cutting part,
It is mounted on the other side of the operating connection part,
The first grip part or the second grip part,
While gripping the packaging wrap cut by the wrap cutting unit, the mobile robot releases the grip of the packaging wrap in a state adjacent to the recovery unit,
The mobile robot,
It is moved from the unwrapping body in a vertical or horizontal direction so that the operation unit is disposed to face the load or the operation unit is disposed to face the recovery unit,
The operating part,
a band cutting unit connected to the operating connection unit and disposed between the first grip unit and the second grip unit to cut the packaging band gripped by the first grip unit and the second grip unit;
The band cutting part,
A band body portion connected to the front of the operating connection portion;
A band moving unit that is moved in the forward and backward directions while being attached to the band body unit;
A cutting motor unit connected to the band moving unit and interlocked according to the movement of the band moving unit and generating rotational force by the applied power; and
A cutting blade part rotated by the cutting motor part,
The first grip part,
A first grip body portion connected to an upper portion of one side of the operating connection portion;
A first grip moving part that is moved in the forward and backward directions while being attached to the first grip body part; and
A first grip piece for gripping or releasing the grip of the front packaging package while being connected to the first grip moving unit;
The second grip part,
A second grip body part connected to the lower part of one side of the operating connection part;
A second grip moving part that is moved in the forward and backward directions while being attached to the second grip body part; and
A second grip piece for gripping or releasing the grip of the front packaging package while being connected to the second grip moving unit;
The first grip piece and the second grip piece,
It is moved from the grip position of gripping the front pavement band to the rearward position, and is moved to a separation position that makes the distance between the gripped pavement band and the load farther.
The band moving part,
When the first grip piece and the second grip piece are moved to the spaced position, they are moved forward from the standby position to a cutting position where the packaging band is cut by the cutting blade,
The first grip piece,
A first grip protrusion formed by protruding from an end of the first grip moving part;
A 1-1 grip piece rotatably connected to one side surface of the first grip protrusion and disposed vertically or parallel to the first grip protrusion; and
a 1-2 grip piece rotatably connected to the other side surface of the first grip protrusion and disposed vertically or parallel to the first grip protrusion;
The 1-1 grip piece and the 1-2 grip piece,
When disposed perpendicularly to the first grip protrusion, are spaced apart from each other, and when disposed parallel to the first grip protrusion, grip the packaging wrap or packaging band located in front of the first grip protrusion in contact with each other; ,
The second grip piece,
A second grip protrusion protruding from the end of the second grip moving part;
A 2-1 grip piece rotatably connected to one side of the second grip protrusion and disposed vertically or parallel to the second grip protrusion; and
A 2-2 grip piece rotatably connected to the other side surface of the second grip protrusion and disposed vertically or parallel to the second grip protrusion;
The 2-1 grip piece and the 2-2 grip piece,
When disposed perpendicularly to the second grip protrusion, spaced apart from each other, and when disposed parallel to the second grip protrusion, contact with each other to grip the packaging wrap or packaging band located in front of the second grip protrusion. Packaging package automatic removal device, characterized in that.
delete delete delete delete delete According to claim 1,
The lap cutting part,
A lap cutting body portion protruding from the front side of the other side of the operating connection portion, and
It is mounted on the wrap cutting body and has an electric heat generating unit for generating electric hot air by the applied power,
The electric heat generating unit,
The automatic packaging package removal device, characterized in that interlocked with the movement of the mobile robot, so that the packaging wrap surrounding the load is cut by the electric hot air.
According to claim 1,
a position sensor unit connected to the other end of the operation connection unit and detecting a separation distance from a front object; and
It further includes; an unwrapping control unit controlling the mobile robot or the operating unit according to the value detected by the position sensor unit,
The unwrapping control unit,
A first operation of controlling the mobile robot so that the separation distance between the operation unit and the load is disposed at a first separation distance based on the value detected by the position sensor unit;
After the first operation, after controlling the wrap cutting unit to be driven, the mobile robot is controlled to move along the height direction of the load while maintaining the first separation distance from the load, so that the packaging wrap is cut Second operation and
After the second operation, one end of the cut packaging wrap is controlled to be gripped by the grip unit, and then a third operation of controlling the mobile robot so that the cut packaging wrap is moved to the collection unit is sequentially implemented. Automatic package removal device characterized by packaging.
According to claim 8,
The unwrapping control unit,
A fourth operation of controlling the mobile robot so that the separation distance between the operation unit and the load is disposed at a second separation distance based on the value detected by the position sensor unit;
A fifth operation of controlling the gripping unit to grip the packaging band after the fourth operation and then cutting the packaging band by the band cutting unit; and
After the fifth operation, a sixth operation of controlling the mobile robot so that the cut packaging band is moved to the recovery unit while being gripped by the grip unit is sequentially implemented.
According to claim 9,
The first grip piece,
When the 1-1 grip piece and the 1-2 grip piece are disposed in parallel with the first grip protrusion, measuring a change in separation distance between the 1-1 grip piece and the 1-2 grip piece Further comprising a first change measuring unit,
The second grip piece,
When the 2-1 grip piece and the 2-2 grip piece are disposed in parallel with the second grip protrusion, measuring the amount of change in the separation distance between the 2-1 grip piece and the 2-2 grip piece Further comprising a second change measuring unit,
The unwrapping control unit,
When the value measured by the first change measurement unit is greater than the preset value, it is determined that the pavement band is gripped between the 1-1 grip piece and the 1-2 grip piece;
When the value measured by the second change measuring unit is greater than the preset value, it is determined that the pavement band is gripped between the 2-1 grip piece and the 2-2 grip piece;
When the value measured by the first change measuring unit and the second change measuring unit is greater than a preset value, the band moving unit moves from the standby position to the cutting position, characterized in that for automatic removal of packaging packages. Device.

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